Line data    Source code

       1             : #include "Plane.h"
       2             : 
       3             : #if HAL_SOARING_ENABLED
       4             : 
       5             : /*
       6             : *  ArduSoar support function
       7             : *
       8             : *  Peter Braswell, Samuel Tabor, Andrey Kolobov, and Iain Guilliard
       9             : */
      10     2736341 : void Plane::update_soaring() {
      11             :     
      12             :     // Check if soaring is active. Also sets throttle suppressed
      13             :     // status on active state changes.
      14     2736341 :     bool override_disable = mission.get_in_landing_sequence_flag();
      15             : 
      16     2736341 :     plane.g2.soaring_controller.update_active_state(override_disable);
      17             : 
      18     2736341 :     if (!g2.soaring_controller.is_active()) {
      19     2667574 :         return;
      20             :     }
      21             :     
      22       68767 :     g2.soaring_controller.update_vario();
      23             : 
      24       68767 :     if (control_mode == &mode_thermal) {
      25             :         // We are currently thermalling; suppress throttle and update
      26             :         // the thermal mode.
      27             : 
      28             :         // Never use throttle in THERMAL with soaring active.
      29       13618 :         g2.soaring_controller.set_throttle_suppressed(true);
      30             : 
      31             :         // Update THERMAL mode soaring logic.
      32       13618 :         mode_thermal.update_soaring();
      33       13618 :         return;
      34             :     }
      35             : 
      36       55149 :     if (control_mode->does_automatic_thermal_switch()) {
      37             :         // We might decide to start thermalling; if we're not under
      38             :         // powered flight then check for thermals and potentially
      39             :         // switch modes.
      40             : 
      41             :         // Check for throttle suppression change.
      42       51738 :         if (g2.soaring_controller.suppress_throttle()) {
      43             :             // Throttle is suppressed, perform cruising modes update and check for mode switch.
      44             : 
      45             :             // Cruising modes update.
      46       34129 :             g2.soaring_controller.update_cruising();
      47             : 
      48             :             // Test for switch into THERMAL mode
      49       34129 :             if (g2.soaring_controller.check_thermal_criteria()) {
      50           1 :                 gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Thermal detected, entering %s", mode_thermal.name());
      51           1 :                 set_mode(mode_thermal, ModeReason::SOARING_THERMAL_DETECTED);
      52             :             }
      53             :         }
      54       51738 :         return;
      55             :     }
      56             : 
      57             :     //  We are not thermalling and won't start to from this mode. Allow throttle.
      58        3411 :     g2.soaring_controller.set_throttle_suppressed(false);
      59             : }
      60             : 
      61             : #endif // HAL_SOARING_ENABLED